| 摘要 |
<p>In this invention, a vehicle control device (50), a controller (100), an inverter control device (30) and a steering control device (32) configure a control device which, on the basis of image information obtained by a camera (15), performs control to apply a yaw moment to a vehicle main body (1) such that the vehicle main body (1) travels following a trolley line (3L, 3R) when travelling outside of a trolley line coupling segment (C), and does not perform the aforementioned control to apply a yaw moment when travelling in the trolley line coupling segment (C). Further, the obtained image information is converted into coordinate information, and, when the vehicle main body is travelling outside of the trolley line coupling segment (C), a target point located on the trolley line (3L, 3R) and a representative point of the vehicle main body (1) are calculated from the coordinate information, and a yaw moment is applied to the vehicle main body (1) such that the representative point approaches the target point. By this means, even if there is a coupling segment of the trolley line, trolleys can travel stably with reduced operation load on drivers during trolley travel.</p> |
